足回り動かすためのライブラリ
使用例
#include "scrp_slave.hpp" #include "core.hpp" #include "mbed.h" ScrpSlave sendpwm(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800); Robot AKASHIKOSEN(50.8,25.4,322.5,259.75); Core RBT(&AKASHIKOSEN,OMNI4,0.02); int main(){ /*--------------SETUP--------------*/ AKASHIKOSEN.setCWID(0,1,2,3); AKASHIKOSEN.setSWID(4,5,6,7); RBT.addENC(PC_4,PA_13,512,4,0); RBT.addENC(PA_14,PA_15,512,4,1); RBT.addENC(PC_2,PC_3,512,4,2); RBT.addENC(PC_10,PC_11,512,4,3); RBT.addENC(PA_7,PA_6,512,4,4); RBT.addENC(PA_9,PA_8,512,4,5); RBT.addENC(PC_1,PC_0,512,4,6); RBT.addENC(PC_5,PA_12,512,4,7); RBT.START(); /*--------------LOOP--------------*/ Position pos; while(true){ pos = RBT.getStatus(); printf("x:%lf,y:%lf,theta:%lf\n",pos.x,pos.y,pos.theta); RBT.LOOP(); } }
encoder.cpp@0:0a9ce35078a3, 2021-09-21 (annotated)
- Committer:
- hamohamo
- Date:
- Tue Sep 21 06:16:58 2021 +0000
- Revision:
- 0:0a9ce35078a3
- Child:
- 9:489046c1e624
first commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hamohamo | 0:0a9ce35078a3 | 1 | #include "encoder.hpp" |
hamohamo | 0:0a9ce35078a3 | 2 | |
hamohamo | 0:0a9ce35078a3 | 3 | Encoder::Encoder(PinName pinA,PinName pinB,int resolution,int mode,int id):resolution(resolution),mode(mode),ID(id){ |
hamohamo | 0:0a9ce35078a3 | 4 | pin_A = new InterruptIn(pinA,PullUp); |
hamohamo | 0:0a9ce35078a3 | 5 | pin_B = new InterruptIn(pinB,PullUp); |
hamohamo | 0:0a9ce35078a3 | 6 | init(); |
hamohamo | 0:0a9ce35078a3 | 7 | } |
hamohamo | 0:0a9ce35078a3 | 8 | Encoder::~Encoder(){ |
hamohamo | 0:0a9ce35078a3 | 9 | pin_B->disable_irq(); |
hamohamo | 0:0a9ce35078a3 | 10 | pin_B->disable_irq(); |
hamohamo | 0:0a9ce35078a3 | 11 | delete pin_A; |
hamohamo | 0:0a9ce35078a3 | 12 | delete pin_B; |
hamohamo | 0:0a9ce35078a3 | 13 | } |
hamohamo | 0:0a9ce35078a3 | 14 | |
hamohamo | 0:0a9ce35078a3 | 15 | void Encoder::Update(double dt){ |
hamohamo | 0:0a9ce35078a3 | 16 | theta[1] = 2.0*M_PI * pulse / resolution / mode; |
hamohamo | 0:0a9ce35078a3 | 17 | omega[1] = (theta[1]-theta[0])/dt; |
hamohamo | 0:0a9ce35078a3 | 18 | alpha[1] = (omega[1]-omega[0])/dt; |
hamohamo | 0:0a9ce35078a3 | 19 | jerk = (alpha[1]-alpha[0])/dt; |
hamohamo | 0:0a9ce35078a3 | 20 | theta[0] = theta[1]; |
hamohamo | 0:0a9ce35078a3 | 21 | omega[0] = omega[1]; |
hamohamo | 0:0a9ce35078a3 | 22 | alpha[0] = alpha[1]; |
hamohamo | 0:0a9ce35078a3 | 23 | } |
hamohamo | 0:0a9ce35078a3 | 24 | |
hamohamo | 0:0a9ce35078a3 | 25 | double Encoder::get_Theta() {return theta[1];} |
hamohamo | 0:0a9ce35078a3 | 26 | double Encoder::get_Omega() {return omega[1];} |
hamohamo | 0:0a9ce35078a3 | 27 | double Encoder::get_Alpha() {return alpha[1];} |
hamohamo | 0:0a9ce35078a3 | 28 | double Encoder::get_Jerk() {return jerk;} |
hamohamo | 0:0a9ce35078a3 | 29 | double Encoder::get_ID() {return ID;} |
hamohamo | 0:0a9ce35078a3 | 30 | |
hamohamo | 0:0a9ce35078a3 | 31 | void Encoder::init(){ |
hamohamo | 0:0a9ce35078a3 | 32 | pulse = 0; |
hamohamo | 0:0a9ce35078a3 | 33 | if(mode <= 0 or 4 < mode) mode = 4; |
hamohamo | 0:0a9ce35078a3 | 34 | if(1 <= mode) pin_A->rise(callback(this,&Encoder::riseA)); |
hamohamo | 0:0a9ce35078a3 | 35 | if(2 <= mode) pin_A->fall(callback(this,&Encoder::fallA)); |
hamohamo | 0:0a9ce35078a3 | 36 | if(3 <= mode) pin_B->rise(callback(this,&Encoder::riseB)); |
hamohamo | 0:0a9ce35078a3 | 37 | if(4 <= mode) pin_B->fall(callback(this,&Encoder::fallB)); |
hamohamo | 0:0a9ce35078a3 | 38 | } |
hamohamo | 0:0a9ce35078a3 | 39 | |
hamohamo | 0:0a9ce35078a3 | 40 | void Encoder::riseA(void){pin_B->read() ? pulse-- : pulse++;} |
hamohamo | 0:0a9ce35078a3 | 41 | void Encoder::riseB(void){pin_A->read() ? pulse++ : pulse--;} |
hamohamo | 0:0a9ce35078a3 | 42 | void Encoder::fallA(void){pin_B->read() ? pulse++ : pulse--;} |
hamohamo | 0:0a9ce35078a3 | 43 | void Encoder::fallB(void){pin_A->read() ? pulse-- : pulse++;} |